Publications

Goel, Purvi, Haotian Zhang, C. Karen Liu, and Kayvon Fatahalian. “ Generative Motion Infilling from Imprecisely Timed Keyframes”, Eurographics, 2025, May 1, 2025. https://purvigoel.github.io/imprecise-timing/.

Truong, Takara, Michael Piseno, Zhaoming Xie, and C. Karen Liu. “PDP: Physics-Based Character Animation via Diffusion Policy”, SIGGRAPH Asia 2024, December 3, 2024. https://doi.org/10.1145/3680528.3687683.

Wang*, Ruocheng, Pei Xu*, Haochen Shi, Elizabeth Schumann, and C. Karen Liu. “FürElise: Capturing and Physically Synthesizing Hand Motions of Piano Performance”, SIGGRAPH Asia 2024 Conference Papers, December 2024, 1-11. https://doi.org/10.1145/3680528.3687703.

Xu, Pei, and Ruocheng Wang. “Synchronize Dual Hands for Physics-Based Dexterous Guitar Playing”, SIGGRAPH Asia 2024 Conference Papers (SA Conference Papers ’24), December 2024. https://doi.org/10.1145/3680528.3687692.

Li, Jiaman, Alexander Clegg, Roozbeh Mottaghi, Jiajun Wu, Xavier Puig, and C. Karen Liu. “Controllable Human-Object Interaction Synthesis”, European Conference on Computer Vision (ECCV), 2024, October 2024. https://lijiaman.github.io/projects/chois/.

Wu, Albert, Ruocheng Wang, Sirui Chen, Clemens Eppner, and C. Karen Liu. “One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting”, International Conference on Intelligent Robots and Systems (IROS), 2024, October 2024. https://stanford-tml.github.io/extrinsic-manipulation/.

Goel, Purvi, Kuan-Chieh Wang, C. Karen Liu, and Kayvon Fatahalian. “Iterative Motion Editing With Natural Language”, ACM SIGGRAPH Conference Proceedings 2024, 71 (July 28, 2024): 9. https://purvigoel.github.io/iterative-motion-editing/.

Wang, Chen, Haochen Shi, Weizhuo Wang, Ruohan Zhang, Li Fei-Fei, and Karen Liu. “DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation”, Robotics: Science and Systems (RSS), 2024, July 2024.

Chen, Sirui, Jeannette Bohg, and C. Karen Liu. “SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty”, Robotics: Science and Systems (RSS), 2024, July 2024. https://stanford-tml.github.io/SpringGrasp/.

Guo, Michelle, Ziang Liu, Stephen Tian, Zhaoming Xie, Jiajun Wu, and C. Karen Liu. “Learning to Design 3D Printable Adaptations on Everyday Objects for Robot Manipulation”, IEEE International Conference on Robotics and Automation (ICRA), 2024, May 2024. https://object-adaptation.github.io/.

Po, R., W. Yifan, V. Golyanik, K. Aberman, J. T. Barron, A. Bermano, E. Chan, T. Dekel, A. Holynski, A. Kanazawa, C. K. Liu, L. Liu, B. Mildenhall, M. Niebner, B. Ommer, C. Theobalt, P. Wonka, and G. Wetzstein. “State of the Art on Diffusion Models for Visual Computing”, Eurographics, 2024, April 2024.

Van Wouwe, Tom, Jennifer Hicks, Scott Delp, and C. Karen Liu. “A Simulation Framework to Determine Optimal Strength Training and Musculoskeletal Geometry for Sprinting and Distance Running”, PLoS Computational Biology, 20, no. 2 (2024). https://doi.org/10.1371/journal.pcbi.1011410.

Huang, William, Yifeng Jiang, Tom Van Wouwe, and C. Karen Liu. “Constrained Diffusion With Trust Sampling”, 2024. https://will-s-h.github.io/trust-sampling-website/.

Li, Jiaman, Jiajun Wu, and C. Karen Liu. “Object Motion Guided Human Motion Synthesis”, ACM Transactions of Graphics (SIGGRAPH Asia) 2023., December 12, 2023. https://lijiaman.github.io/projects/omomo/.

Jiang, Yifeng, Jungdam Won, Yuting Ye, and C. Karen Liu. “DROP: Dynamics Responses from Human Motion Prior and Projective Dynamics”, Proceedings of SIGGRAPH Asia, 2023, December 2023. https://stanford-tml.github.io/drop/.

Keller, Marilyn, Keenon Werling, Soyong Shin, Scott Delp, Sergi Pujades, C. Liu, and Michael Black. “From Skin to Skeleton: Towards Biomechanically Accurate 3D Digital Humans”, ACM Transactions of Graphics (SIGGRAPH Asia) 2023., 42, no. 6 (December 2023). https://doi.org/10.1145/3618381.

Liu*, Ziang, Stephen Tian*, Michelle Guo, C. Karen Liu, and Jiajun Wu. “Learning to Design and Use Tools for Robotic Manipulation”, Conference on Robot Learning (CoRL), 2023, November 2023. https://robotic-tool-design.github.io/.

Chen*, Yuanpei, Chen Wang*, Li Fei-Fei, and C. Karen Liu. “Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation”, Conference on Robot Learning (CoRL), 2023, November 2023.

Sorokin, Maks, Chuyuan Fu, Jie Tan, C. Karen Liu, Yunfei Bai, Wenhao Yu, Sehoon Ha, and Mohi Khansari. “On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, October 2023.

Jitosho*, Rianna, Tyler Lum*, Allison Okamura, and C. Karen Liu. “Reinforcement Learning Enables Real-Time Planning and Control of Agile Maneuvers for Soft Robot Arms”, Conference on Robot Learning (CoRL), 2023, October 2023. https://sites.google.com/view/rl-soft-robot.

Lee, Seunghwan, Yifeng Jiang, and C. Karen Liu. “Anatomically Detailed Simulation of Human Torso”, ACM Transactions of Graphics (SIGGRAPH) 2023, August 2023.

Bianco, Nicholas, Steven Collins, C. Karen Liu, and Scott Delp. “Simulating the Effect of Ankle Plantarflexion and Inversion-Eversion Exoskeleton Torques on Center of Mass Kinematics During Walking”, PLOS Computational Biology, 2023, August 2023.

Chen, Sirui, Albert Wu, and C. Karen Liu. “Synthesizing Dexterous Nonprehensile Pregrasp for Ungraspable Objects”, ACM SIGGRAPH Conference Proceedings, 2023, July 2023.

Guo, Michelle, Yifeng Jiang, Andrew Spielberg, Jiajun Wu, and C. Karen Liu. “Benchmarking Rigid Body Contact Models”, Learning for Dynamics and Control Conference, 2023, June 2023. https://proceedings.mlr.press/v211/guo23b.html.

Tseng, Jonathan, Rodrigo Castellon, and C. Karen Liu. “EDGE: Editable Dance Generation From Music”, Conference on Computer Vision and Pattern Recognition (CVPR) 2023, June 2023.

Wang, Kuan-Chieh, Zhenzhen Weng, Maria Xenochristou, Joao Araujo, Jeffrey Gu, C. Karen Liu, and Serena Yeung. “NeMo: 3D Neural Motion Fields from Multiple Video Instances of the Same Action”, Conference on Computer Vision and Pattern Recognition (CVPR), 2023, June 2023.

Wang, Weizhuo, Michael Raitor, Steve Collins, C. Karen Liu, and Monroe Kennedy. “Trajectory and Sway Prediction Towards Fall Prevention”, International Conference on Robotics and Automation (ICRA), 2023, June 2023.

Araujo, Joao Pedro, Jiaman Li, Karthik Vetrivel, Rishi Agarwal, Deepak Gopinath, Jiajun Wu, Alexander Clegg, and C. Karen Liu. “CIRCLE: Capture In Rich Contextual Environments”, Conference on Computer Vision and Pattern Recognition (CVPR), 2023, 2023.

Li, Jiaman, C. Karen Liu†, and Jiajun Wu†. “Ego-Body Pose Estimation via Ego-Head Pose Estimation”, Conference on Computer Vision and Pattern Recognition (CVPR), 2023, 2023. https://lijiaman.github.io/projects/egoego/.

Xie, Zhaoming, Jonathan Tseng, Sebastian Starke, Michiel van de Panne, and C. Karen Liu. “Hierarchical Planning and Control for Box Loco-Manipulation”, Symposium on Computer Animation (SCA), 2023.

Wu, Albert, Michelle Guo, and C. Karen Liu. “Learning Diverse and Physically Feasible Dexterous Grasps With Generative Model and Bilevel Optimization”, Conference on Robot Learning (CoRL), 2022, December 2022. https://proceedings.mlr.press/v205/wu23b.html.

Jiang, Yifeng, Yuting Ye, Deepak Gopinath, Jungdam Won, Alexander Winkler, and C. Karen Liu. “Transformer Inertial Poser: Real-Time Human Motion Reconstruction from Sparse IMUs With Simultaneous Terrain Generation”, Proceedings of SIGGRAPH Asia, 2022, December 2022.

Li, Chengshu, Ruohan Zhang, Josiah Wong, Cem Gokmen, Sanjana Srivastava, Roberto Martín-Martín, Chen Wang, Gabrael Levine, Michael Lingelbach, Jiankai Sun, Mona Anvari, Minjune Hwang, Manasi Sharma, Arman Aydin, Dhruva Bansal, Samuel Hunter, Kyu-Young Kim, Alan Lou, Caleb Matthews, Ivan Villa-Renteria, Jerry Tang, Claire Tang, Fei Xia, Silvio Savarese, Hyowon Gweon, C. Karen Liu, Jiajun Wu, and Li Fei-Fei. “BEHAVIOR-1K: A Benchmark for Embodied AI With 1,000 Everyday Activities and Realistic Simulation”, Conference on Robot Learning (CoRL), 2022, November 16, 2022.

Chen, Sirui, Keenon Werling, Albert Wu, and C. Karen Liu. “Real-Time Model Predictive Control and System Identification Using Differentiable Physics Simulation”, IEEE Robotics and Automation Letters, 2022, November 3, 2022.

Ye, Sifan, Yixing Wang, Jiaman Li, Dennis Park, C. Karen Liu, Huazhe Xu, and Jiajun Wu. “Scene Synthesis from Human Motion”, Proceedings of ACM SIGGRAPH Asia, 2022, November 2022.

Zheng, Yang, Yanchao Yang, Kaichun Mo, Jiaman Li, Tao Yu, Yebin Liu, C. Karen Liu, and Leonidas J. Guibas. “GIMO: Gaze-Informed Human Motion Prediction in Context”, European Conference on Computer Vision (ECCV), 2022, October 2022.

Erickson, Zackory, Henry Clever, Vamsee Gangaram, Eliot Xing, Greg Turk, C. Karen Liu, and Charles Kemp. “Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction”, IEEE Transactions on Robotics, 2022, July 2022.

Yang, Yanchao, Hanxiang Ren, He Wang, Bokui Shen, Qingnan Fan, Youzi Zheng, C. Karen Liu, and Leonidas Guibas. “ADeLA: Automatic Dense Labeling With Attention for Viewpoint Adaptation in Semantic Segmentation”, Conference on Computer Vision and Pattern Recognition (CVPR), 2022, June 2022.

Jiang, Yifeng, Jiazheng Sun, and C. Karen Liu. “Data-Augmented Contact Model for Rigid Body Simulation”, Learning for Dynamics & Control Conference (L4DC), 2022, June 2022.

Yang, Yanchao, Yuefan Shen, Youzi Zheng, C. Karen Liu, and Leonidas Guibas. “DCL: Differential Contrastive Learning for Geometry-Aware Depth Synthesis”, IEEE International Conference on Robotics and Automation (RA-L and ICRA), 2022, May 2022.

Sorokin, Maks, Jie Tan, C. Karen Liu, and Sehoon Ha. “Learning to Navigate Sidewalks in Outdoor Environments”, IEEE International Conference on Robotics and Automation (RA-L and ICRA), 2022, May 2022.

Exarchos, Ioannis, Karen Wang, Brian Do, Fabio Stroppa, Margaret Coad, Allison Okamura, and C. Karen Liu. “Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots With Growable Discrete Joints”, IEEE International Conference on Robotics and Automation (ICRA), 2022, May 2022.

Kwiatkowski, Ariel, Eduardo Alvarado, Vicky Kalogeiton, C. Karen Liu, Julien Pettré, Michiel van de Panne, and Marie-Paule Cani. “A Survey on Reinforcement Learning Methods in Character Animation”, EUROGRAPHICS, 2022, April 2022.

Srivastava, Sanjana, Chengshu Li, Michael Lingelbach, Roberto Martin-Martin, Fei Xia, Kent Vainio, Zheng Lian, Cem Gokmen, Shyamal Buch, C. Karen Liu, Silvio Savarese, Hyowon Gweon, Jiajun Wu, and Li Fei-Fei. “BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments”, Conference on Robot Learning (CoRL), 2021, November 2021.

Wang, Chen, Claudia Pérez-D’Arpino, Danfei Xu, Li Fei-Fei, C. Karen Liu, and Silvio Savarese. “Co-GAIL Learning Diverse Strategies for Human-Robot Collaboration”, Conference on Robot Learning (CoRL), 2021, November 2021.

Li, Chengshu, Fei Xia, Roberto Martin-Martin, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, C. Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, and Silvio Savarese. “IGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks”, Conference on Robot Learning (CoRL), 2021, November 2021.

Xu, Zhuo, Wenhao Yu, Alexander Herzog, Wenlong Lu, Chuyuan Fu, Masayoshi Tomizuka, Yunfei Bai, C. Karen Liu, and Daniel Ho. “COCOI: Contact-Aware Online Context Inference for Generalizable Non-Planar Pushing”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, September 2021.

Jiang, Yifeng, Michelle Guo, Jiangshan Li, Ioannis Exarchos, Jiajun Wu, and C. Karen Liu. “DASH: Modularized Human Manipulation Simulation With Vision and Language for Embodied AI”, ACM SIGGRAPH / Eurographics Symposium on Computer Animation (SCA), 2021, August 2021.

Babadi, Amin, Michiel van de Panne, C. Karen Liu, and Perttu Hämäläinen. “Learning Task-Agnostic Action Spaces for Movement Optimization ”, IEEE Transactions on Computer Graphics and Visualization, 2021, July 2021.

Kumar, Visak, Sehoon Ha, and C. Karen Liu. “Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments”, Robotics Science and Systems (RSS), 2021, June 2021.

Werling, Keenon, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, and C. Karen Liu. “Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies With Contact”, Robotics: Science and Systems (RSS), 2021, June 2021.

Sorokin, Maks, Wenhao Yu, Sehoon Ha, and C. Karen Liu. “Learning Human Search Behavior from Egocentric Visual Inputs”, EUROGRAPHICS 2021, May 2021.

Exarchos, Ioannis, Yifeng Jiang, Wenhao Yu, and C. Karen Liu. “Policy Transfer via Kinematic Domain Randomization and Adaptation”, May 2021.

Yu, Wenhao, Greg Turk, and C. Karen Liu. “Protective Policy Transfer”, IEEE International Conference on Robotics and Automation (ICRA), 2021, May 2021.

Jiang, Yifeng, Tingnan Zhang, Daniel Ho, Yunfei Bai, C. Karen Liu, Sergey Levine, and Jie Tan. “SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning”, IEEE International Conference on Robotics and Automation (ICRA), 2021, May 2021.

Liu, C. Karen, and Dan Negrut. “The Role of Physics-Based Simulators in Robotics”, Annual Review of Control, Robotics, and Autonomous Systems, 2021, May 2021.

Kumar, K. Niranjan, Irfan Essa, Sehoon Ha, and C. Karen Liu. “Estimating Mass Distribution of Articulated Objects Using Non-Prehensile Manipulation”, NeurIPS Object Representations for Learning and Reasoning Workshop, 2020, December 2020.

Zhang, Yunbo, Wenhao Yu, C. Karen Liu, Charlie Kemp, and Greg Turk. “Learning to Manipulate Amorphous Materials”, ACM Transactions of Graphics (SIGGRAPH Asia), 2020, November 2020.

Hamalainen, Perttu, Juuso Toikka, Amin Babadi, and C. Karen Liu. “Visualizing Movement Control Optimization Landscapes”, IEEE Transactions on Visualization and Computer Graphics (TVCG), 2020, August 2020.

Clever, Henry, Zackory Erickson, Ariel Kapusta, Greg Turk, C. Karen Liu, and Charlie Kemp. “Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image Using Synthetic Data”, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020, June 2020.

Erickson, Zackory, Vamsee Gangaram, Ariel Kapusta, C. Karen Liu, and Charles Kemp. “Assistive Gym: A Physics Simulation Framework for Assistive Robotics”, IEEE International Conference on Robotics and Automation (ICRA), 2020, May 2020.

Kumar, Visak, Sehoon Ha, Gregory Sawicki, and C. Karen Liu. “Learning a Control Policy for Fall Prevention on an Assistive Walking Device”, IEEE International Conference on Robotics and Automation (ICRA), 2020, May 2020.

Clegg, Alexander, Zackory Erickson, Patrick Grady, Greg Turk, Charles Kemp, and C. Karen Liu. “Learning to Collaborate from Simulation for Robot-Assisted Dressing”, IEEE Robotics and Automation Letters (RA-L and ICRA), 2020, May 2020.

Yu, Wenhao, Visak Kumar, Greg Turk, and C. Karen Liu. “Sim-to-Real Transfer for Biped Locomotion”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, November 2019.

Jiang, Yifeng, Tom Van Wouwe, Friedl De Groote, and C. Karen Liu. “Synthesis of Biologically Realistic Human Motion Using Joint Torque Actuation”, July 2019.

Kapusta, Ariel, Zackory Erickson, Henry Clever, Wenhao Yu, C. Karen Liu, Greg Turk, and Charles Kemp. “Personalize Collaborative Plans for Robot-Assisted Dressing via Optimization and Simulation”, Autonomous Robots, 2019, June 2019.

Yu, Wenhao, C. Karen Liu, and Greg Turk. “Policy Transfer With Strategy Optimization”, International Conference on Learning Representations (ICLR), 2019, May 2019.

Clegg, Alexander, Wenhao Yu, Jie Tan, C. Karen Liu, and Greg Turk. “Learning To Dress: Synthesizing Human Dressing Motion via Deep Reinforcement Learning”, Transactions on Graphics (SIGGRAPH Asia), 2018, November 2018.

Kumar, Visak, Sehoon Ha, and C. Karen Liu. “Expanding Motor Skills through Relay Neural Networks”, Conference on Robot Learning (CoRL), 2018, October 2018.

Yu, Wenhao, Greg Turk, and C. Karen Liu. “Learning Symmetric and Low-Energy Locomotion”, ACM Transactions on Graphics (SIGGRAPH), 2018, July 2018.

Jiang, Yifeng, and C. Karen Liu. “Data-Driven Approach to Simulating Realistic Human Joint Constraints”, IEEE International Conference on Robotics and Automation (ICRA), 2018, May 2018.

Erickson, Zackory, Henry Clever, Greg Turk, C. Karen Liu, and Charles Kemp. “Deep Haptic Model Predictive Control for Robot-Assisted Dressing”, IEEE International Conference on Robotics and Automation (ICRA), 2018, May 2018.

Lee, Jeongseok, Michael Grey, Sehoon Ha, Tobias Kunz, Sumit Jain, Yuting Ye, Siddhartha Srinivasa, Mike Stillman, and C. Karen Liu. “DART: Dynamic Animation and Robotics Toolkit”, January 2018.

Kumar, Visak, Sehoon Ha, and C. Karen Liu. “Learning a Unified Control Policy for Safe Falling”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, September 2017.

Clegg, Alexander, Wenhao Yu, Zackory Erickson, C. Karen Liu, and Greg Turk. “Learning to Navigate Cloth Using Haptics”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, September 2017.

Sun, Yun, Sehoon Ha, Hsiang Hsu, Lena Ting, and C. Karen Liu. “Stair Negotiation Made Easier Using Novel Interactive Energy-Recycling Assistive Stairs”, PLOS ONE, 2017, July 2017.

Yu, Wenhao, Jie Tan, C. Karen Liu, and Greg Turk. “Preparing for the Unknown: Learning a Universal Policy With Online System Identification”, Robotics: Science and Systems (RSS), 2017, June 2017.

Grey, Michael, Aaron Ames, and C. Karen Liu. “Probabilistic Completeness of Randomized Possibility Graphs for Bipedal Walking in Semi-Unstructured Environments”, Robotics Science and Systems (RSS), 2017, June 2017.

Xie, Zhaoming, C. Karen Liu, and Kris Hauser. “Differential Dynamic Programming With Nonlinear Constraints”, IEEE International Conference on Robotics and Automation (ICRA), 2017, May 2017.

Grey, Michael, Aaron Ames, and C. Karen Liu. “Footstep and Motion Planning in Semi-Unstructured Environments Using Randomized Possibility Graphs”, IEEE International Conference on Robotics and Automation (ICRA), 2017, May 2017.

Yu, Wenhao, Ariel Kapusta, Charles Kemp, Greg Turk, and C. Karen Liu. “Haptic Data Simulation for Robot-Assisted Dressing”, IEEE International Conference on Robotics and Automation (ICRA), 2017, May 2017.

Erickson, Zackory, Alexander Clegg, Wenhao Yu, Creg Turk, C. Karen Liu, and Charles Kemp. “What Does the Person Feel? Learning to Infer Applied Forces During Robot-Assisted Dressing”, IEEE International Conference on Robotics and Automation (ICRA), 2017, May 2017.

Lee, Jeongseok, C. Karen Liu, Frank Park, and Siddhartha Srinivasa. “A Linear-Time Variational Integrator for Multibody Systems”, Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016, December 2016.

Liu, Shiqiu, Adam Smith, Yuting Gu, Jie Tan, C. Karen Liu, and Greg Turk. “Computer Simulations Imply Forelimb-Dominated Underwater Flight in Plesiosaurs”, PLoS Computational Biology, 2016, December 2016.

Bai, Yunfei, Wenhao Yu, and C. Karen Liu. “Dexterous Manipulation of Cloth”, Computer Graphics Forum (Eurographics), 2016, November 2016.

Grey, Michael, Caelan Garrett, C. Karen Liu, Aaron Ames, and Andrea Thomaz. “Humanoid Manipulation Planning Using Backward-Forward ”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, October 2016.

Tan, Jie, Zhaoming Xie, Byron Boots, and C. Karen Liu. “Simulation-Based Design of Dynamic Controllers for Humanoid Balancing”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, October 2016.

Bai, Yunfei, Danny Kaufman, C. Karen Liu, and Jovan Popovic. “Artist-Directed Dynamics for 2D Animation”, ACM Transactions on Graphics (SIGGRAPH), 2016, August 2016.

Kapusta, Ariel, Wenhao Yu, Tapomayukh Bhattacharjee, C. Karen Liu, Greg Turk, and Charles Kemp. “Data-Driven Haptic Perception for Robot-Assisted Dressing”, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2016, August 2016.

Ha, Sehoon, and C. Karen Liu. “Evolutionary Optimization for Parameterized Whole-Body Dynamic Motor Skills”, IEEE International Conference on Robotics and Automation (ICRA) 2016, May 2016.

Ha, Sehoon, and C. Karen Liu. “Multiple Contact Planning for Minimizing Damage of Humanoid Falls”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, October 2015.

Clegg, Alexander, Jie Tan, Greg Turk, and C. Karen Liu. “Animating Human Dressing”, ACM Transactions on Graphics (SIGGRAPH), 2015, August 2015.

Hamalainen, Perttu, Joose Rajamaki, and C. Karen Liu. “Online Control of Simulated Humanoids Using Particle Belief Propagation”, ACM Transactions on Graphics (SIGGRAPH), 2015, August 2015.

Zhang, Peizhao, Kristin Siu, Jianjie Zhang, C. Karen Liu, and Jinxiang Chai. “Leveraging Depth Cameras and Wearable Pressure Sensors for Full-Body Kinematics and Dynamics Capture”, ACM Transactions on Graphics (SIGGRAPH Asia), 2014, December 2014.

Bai, Yunfei, and C. Karen Liu. “Coupling Cloth and Rigid Bodies for Dexterous Manipulation”, ACM SIGGRAPH Conference on Motion, Interaction and Games, 2014, November 2014.

Bingham, Jeffrey, Jeongseok Lee, Ravi Haksar, Jun Ueda, and C. Karen Liu. “Orienting in Mid-Air through Configuration Changes to Achieve a Rolling Landing for Reducing Impact After a Fall”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014, September 2014.

Tan, Jie, Yuting Gu, C. Karen Liu, and Greg Turk. “Learning Bicycle Stunts”, ACM Transactions on Graphics (SIGGRAPH), 2014, August 2014.

Bai, Yunfei, and C. Karen Liu. “Dexterous Manipulation Using Both Palm and Fingers”, IEEE International Conference on Robotics and Automation (ICRA), 2014, May 2014.

Ha, Sehoon, and C. Karen Liu. “Iterative Training Of Dynamic Skills Inspired By Human Coaching Techniques”, ACM Transactions on Graphics, 2014, March 2014.

Gielniak, Michael, C. Karen Liu, and Andrea Thomaz. “Generating Human-Like Motion for Robots”, The International Journal of Robotics Research (IJRR), 2013, June 2013.